Restructuring and Testing Done

environments/factory/base/base_factory.py

@@ -0,0 +1,370 @@
+from pathlib import Path
+from typing import List, Union, Iterable
+
+import gym
+import numpy as np
+from gym import spaces
+
+import yaml
+from gym.wrappers import FrameStack
+
+from environments.helpers import Constants as c, Constants
+from environments import helpers as h
+from environments.factory.base.objects import Slice, Agent, Tile, Action, MoveableEntity
+from environments.factory.base.registers import StateSlices, Actions, Entities, Agents, Doors, FloorTiles
+from environments.utility_classes import MovementProperties
+
+REC_TAC = 'rec'
+
+
+# noinspection PyAttributeOutsideInit
+class BaseFactory(gym.Env):
+
+    @property
+    def action_space(self):
+        return spaces.Discrete(self._actions.n)
+
+    @property
+    def observation_space(self):
+        agent_slice = self.n_agents if self.omit_agent_slice_in_obs else 0
+        agent_slice = (self.n_agents - 1) if self.combin_agent_slices_in_obs else agent_slice
+        if self.pomdp_radius:
+            shape = (self._obs_cube.shape[0] - agent_slice, self.pomdp_radius * 2 + 1, self.pomdp_radius * 2 + 1)
+            space = spaces.Box(low=0, high=1, shape=shape, dtype=np.float32)
+            return space
+        else:
+            shape = [x-agent_slice if idx == 0 else x for idx, x in enumerate(self._obs_cube.shape)]
+            space = spaces.Box(low=0, high=1, shape=shape, dtype=np.float32)
+            return space
+
+    @property
+    def pomdp_diameter(self):
+        return self.pomdp_radius * 2 + 1
+
+    @property
+    def movement_actions(self):
+        return self._actions.movement_actions
+
+    @property
+    def additional_actions(self) -> Union[str, List[str]]:
+        """
+        When heriting from this Base Class, you musst implement this methode!!!
+
+        :return:            A list of Actions-object holding all additional actions.
+        :rtype:             List[Action]
+        """
+        raise NotImplementedError('Please register additional actions ')
+
+    @property
+    def additional_entities(self) -> Union[Entities, List[Entities]]:
+        """
+        When heriting from this Base Class, you musst implement this methode!!!
+
+        :return:            A single Entites collection or a list of such.
+        :rtype:             Union[Entities, List[Entities]]
+        """
+        raise NotImplementedError('Please register additional entities.')
+
+    @property
+    def additional_slices(self) -> Union[Slice, List[Slice]]:
+        """
+        When heriting from this Base Class, you musst implement this methode!!!
+
+        :return:            A list of Slice-objects.
+        :rtype:             List[Slice]
+        """
+        raise NotImplementedError('Please register additional slices.')
+
+    def __enter__(self):
+        return self if self.frames_to_stack == 0 else FrameStack(self, self.frames_to_stack)
+
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        self.close()
+
+    def __init__(self, level_name='simple', n_agents=1, max_steps=int(5e2), pomdp_radius: Union[None, int] = 0,
+                 movement_properties: MovementProperties = MovementProperties(), parse_doors=False,
+                 combin_agent_slices_in_obs: bool = False, frames_to_stack=0, record_episodes=False,
+                 omit_agent_slice_in_obs=False, done_at_collision=False, **kwargs):
+        assert (combin_agent_slices_in_obs != omit_agent_slice_in_obs) or \
+               (not combin_agent_slices_in_obs and not omit_agent_slice_in_obs), \
+               'Both options are exclusive'
+        assert frames_to_stack != 1 and frames_to_stack >= 0, "'frames_to_stack' cannot be negative or 1."
+
+        # Attribute Assignment
+        self.movement_properties = movement_properties
+        self.level_name = level_name
+        self._level_shape = None
+
+        self.n_agents = n_agents
+        self.max_steps = max_steps
+        self.pomdp_radius = pomdp_radius
+        self.combin_agent_slices_in_obs = combin_agent_slices_in_obs
+        self.omit_agent_slice_in_obs = omit_agent_slice_in_obs
+        self.frames_to_stack = frames_to_stack
+
+        self.done_at_collision = done_at_collision
+        self.record_episodes = record_episodes
+        self.parse_doors = parse_doors
+
+        # Actions
+        self._actions = Actions(self.movement_properties, can_use_doors=self.parse_doors)
+        if additional_actions := self.additional_actions:
+            self._actions.register_additional_items(additional_actions)
+
+        self.reset()
+
+    def _init_state_slices(self) -> StateSlices:
+        state_slices = StateSlices()
+
+        # Objects
+        # Level
+        level_filepath = Path(__file__).parent.parent / h.LEVELS_DIR / f'{self.level_name}.txt'
+        parsed_level = h.parse_level(level_filepath)
+        level = [Slice(c.LEVEL.name, h.one_hot_level(parsed_level))]
+        self._level_shape = level[0].shape
+
+        # Doors
+        parsed_doors = h.one_hot_level(parsed_level, c.DOOR)
+        doors = [Slice(c.DOORS.value, parsed_doors)] if parsed_doors.any() and self.parse_doors else []
+
+        # Agents
+        agents = []
+        for i in range(self.n_agents):
+            agents.append(Slice(f'{c.AGENT.name}#{i}', np.zeros_like(level[0].slice)))
+        state_slices.register_additional_items(level+doors+agents)
+
+        # Additional Slices from SubDomains
+        if additional_slices := self.additional_slices:
+            state_slices.register_additional_items(additional_slices)
+        return state_slices
+
+    def _init_obs_cube(self) -> np.ndarray:
+        x, y = self._slices.by_enum(c.LEVEL).shape
+        state = np.zeros((len(self._slices), x, y))
+        state[0] = self._slices.by_enum(c.LEVEL).slice
+        if r := self.pomdp_radius:
+            self._padded_obs_cube = np.full((len(self._slices), x + r*2, y + r*2), c.FREE_CELL.value)
+            self._padded_obs_cube[0] = c.OCCUPIED_CELL.value
+            self._padded_obs_cube[:, r:r+x, r:r+y] = state
+        return state
+
+    def _init_entities(self):
+        # Tile Init
+        self._tiles = FloorTiles.from_argwhere_coordinates(self._slices.by_enum(c.LEVEL).free_tiles)
+
+        # Door Init
+        if self.parse_doors:
+            tiles = [self._tiles.by_pos(x) for x in self._slices.by_enum(c.DOORS).occupied_tiles]
+            self._doors = Doors.from_tiles(tiles, context=self._tiles)
+
+        # Agent Init on random positions
+        self._agents = Agents.from_tiles(np.random.choice(self._tiles, self.n_agents))
+        entities = Entities()
+        entities.register_additional_items([self._agents])
+
+        if self.parse_doors:
+            entities.register_additional_items([self._doors])
+
+        if additional_entities := self.additional_entities:
+            entities.register_additional_items([additional_entities])
+
+        return entities
+
+    def reset(self) -> (np.ndarray, int, bool, dict):
+        self._slices = self._init_state_slices()
+        self._obs_cube = self._init_obs_cube()
+        self._entitites = self._init_entities()
+        self._flush_state()
+        self._steps = 0
+
+        info = self._summarize_state() if self.record_episodes else {}
+        return None, None, None, info
+
+    def pre_step(self) -> None:
+        pass
+
+    def post_step(self) -> dict:
+        pass
+
+    def step(self, actions):
+        actions = [actions] if isinstance(actions, int) or np.isscalar(actions) else actions
+        assert isinstance(actions, Iterable), f'"actions" has to be in [{int, list}]'
+        self._steps += 1
+        done = False
+
+        # Pre step Hook for later use
+        self.pre_step()
+
+        # Move this in a seperate function?
+        for action, agent in zip(actions, self._agents):
+            agent.clear_temp_sate()
+            action_name = self._actions[action]
+            if self._actions.is_moving_action(action):
+                valid = self._move_or_colide(agent, action_name)
+            elif self._actions.is_no_op(action):
+                valid = c.VALID.value
+            elif self._actions.is_door_usage(action):
+                # Check if agent raly stands on a door:
+                if door := self._doors.by_pos(agent.pos):
+                    door.use()
+                    valid = c.VALID.value
+                # When he doesn't...
+                else:
+                    valid = c.NOT_VALID.value
+            else:
+                valid = self.do_additional_actions(agent, action)
+            agent.temp_action = action
+            agent.temp_valid = valid
+
+        self._flush_state()
+
+        tiles_with_collisions = self.get_all_tiles_with_collisions()
+        for tile in tiles_with_collisions:
+            guests = tile.guests_that_can_collide
+            for i, guest in enumerate(guests):
+                this_collisions = guests[:]
+                del this_collisions[i]
+                guest.temp_collisions = this_collisions
+
+        if self.done_at_collision and tiles_with_collisions:
+            done = True
+
+        # Step the door close intervall
+        if self.parse_doors:
+            self._doors.tick_doors()
+
+        # Finalize
+        reward, info = self.calculate_reward()
+        if self._steps >= self.max_steps:
+            done = True
+        info.update(step_reward=reward, step=self._steps)
+        if self.record_episodes:
+            info.update(self._summarize_state())
+
+        # Post step Hook for later use
+        info.update(self.post_step())
+
+        obs = self._get_observations()
+
+        return obs, reward, done, info
+
+    def _flush_state(self):
+        self._obs_cube[np.arange(len(self._slices)) != self._slices.get_idx(c.LEVEL)] = c.FREE_CELL.value
+        if self.parse_doors:
+            for door in self._doors:
+                if door.is_open:
+                    self._obs_cube[self._slices.get_idx(c.DOORS)][door.pos] = c.IS_OPEN_DOOR.value
+                else:
+                    self._obs_cube[self._slices.get_idx(c.DOORS)][door.pos] = c.IS_CLOSED_DOOR.value
+        for agent in self._agents:
+            self._obs_cube[self._slices.get_idx_by_name(agent.name)][agent.pos] = c.OCCUPIED_CELL.value
+            if agent.last_pos != h.NO_POS:
+                self._obs_cube[self._slices.get_idx_by_name(agent.name)][agent.last_pos] = c.FREE_CELL.value
+
+    def _get_observations(self) -> np.ndarray:
+        if self.n_agents == 1:
+            obs = self._build_per_agent_obs(self._agents[0])
+        elif self.n_agents >= 2:
+            obs = np.stack([self._build_per_agent_obs(agent) for agent in self._agents])
+        else:
+            raise ValueError('n_agents cannot be smaller than 1!!')
+        return obs
+
+    def _build_per_agent_obs(self, agent: Agent) -> np.ndarray:
+        first_agent_slice = self._slices.AGENTSTARTIDX
+        if r := self.pomdp_radius:
+            x, y = self._level_shape
+            self._padded_obs_cube[:, r:r + x, r:r + y] = self._obs_cube
+            global_x, global_y = agent.pos
+            global_x += r
+            global_y += r
+            x0, x1 = max(0, global_x - self.pomdp_radius), global_x + self.pomdp_radius + 1
+            y0, y1 = max(0, global_y - self.pomdp_radius), global_y + self.pomdp_radius + 1
+            obs = self._padded_obs_cube[:, x0:x1, y0:y1]
+        else:
+            obs = self._obs_cube
+        if self.omit_agent_slice_in_obs:
+            obs_new = obs[[key for key, val in self._slices.items() if c.AGENT.value not in val]]
+            return obs_new
+        else:
+            if self.combin_agent_slices_in_obs:
+                agent_obs = np.sum(obs[[key for key, slice in self._slices.items() if c.AGENT.name in slice.name]],
+                                   axis=0, keepdims=True)
+                obs = np.concatenate((obs[:first_agent_slice], agent_obs, obs[first_agent_slice+self.n_agents:]))
+                return obs
+            else:
+                return obs
+
+    def do_additional_actions(self, agent_i: int, action: int) -> bool:
+        raise NotImplementedError
+
+    def get_all_tiles_with_collisions(self) -> List[Tile]:
+        tiles_with_collisions = list()
+        for tile in self._tiles:
+            if tile.is_occupied():
+                guests = [guest for guest in tile.guests if guest.can_collide]
+                if len(guests) >= 2:
+                    tiles_with_collisions.append(tile)
+        return tiles_with_collisions
+
+    def _move_or_colide(self, agent: Agent, action: Action) -> Constants:
+        new_tile, valid = self._check_agent_move(agent, action)
+        if valid:
+            # Does not collide width level boundaries
+            return agent.move(new_tile)
+        else:
+            # Agent seems to be trying to collide in this step
+            return c.NOT_VALID
+
+    def _check_agent_move(self, agent, action: Action) -> (Tile, bool):
+        # Actions
+        x_diff, y_diff = h.ACTIONMAP[action.name]
+        x_new = agent.x + x_diff
+        y_new = agent.y + y_diff
+
+        new_tile = self._tiles.by_pos((x_new, y_new))
+        if new_tile:
+            valid = c.VALID
+        else:
+            tile = agent.tile
+            valid = c.VALID
+            return tile, valid
+
+        if self.parse_doors and agent.last_pos != h.NO_POS:
+            if door := self._doors.by_pos(agent.pos):
+                if door.is_open:
+                    pass
+                else:  # door.is_closed:
+                    if door.is_linked(agent.last_pos, new_tile.pos):
+                        pass
+                    else:
+                        return agent.tile, c.NOT_VALID
+            else:
+                pass
+        else:
+            pass
+
+        return new_tile, valid
+
+    def calculate_reward(self) -> (int, dict):
+        # Returns: Reward, Info
+        raise NotImplementedError
+
+    def render(self, mode='human'):
+        raise NotImplementedError
+
+    def save_params(self, filepath: Path):
+        # noinspection PyProtectedMember
+        # d = {key: val._asdict() if hasattr(val, '_asdict') else val for key, val in self.__dict__.items()
+        d = {key: val for key, val in self.__dict__.items() if not key.startswith('_') and not key.startswith('__')}
+        filepath.parent.mkdir(parents=True, exist_ok=True)
+        with filepath.open('w') as f:
+            yaml.dump(d, f)
+            # pickle.dump(d, f, protocol=pickle.HIGHEST_PROTOCOL)
+
+    def _summarize_state(self):
+        summary = {f'{REC_TAC}_step': self._steps}
+        for entity in self._entitites:
+            if hasattr(entity, 'summarize_state'):
+                summary.update({f'{REC_TAC}_{entity.name}': entity.summarize_state()})
+        return summary

environments/factory/base/objects.py

@@ -0,0 +1,266 @@
+import itertools
+
+import networkx as nx
+import numpy as np
+from environments import helpers as h
+from environments.helpers import Constants as c
+import itertools
+
+
+def sub(p, q):
+    return p - q
+
+
+class Object:
+
+    def __bool__(self):
+        return True
+
+    @property
+    def i(self):
+        return self._identifier
+
+    @property
+    def name(self):
+        return self._identifier
+
+    def __init__(self, identifier, **kwargs):
+        self._identifier = identifier
+        if kwargs:
+            print(f'Following kwargs were passed, but ignored: {kwargs}')
+
+    def __repr__(self):
+        return f'{self.__class__.__name__}({self._identifier})'
+
+
+class Action(Object):
+
+    @property
+    def name(self):
+        return self.i
+
+    def __init__(self, *args):
+        super(Action, self).__init__(*args)
+
+
+class Slice(Object):
+
+    @property
+    def shape(self):
+        return self.slice.shape
+
+    @property
+    def occupied_tiles(self):
+        return np.argwhere(self.slice == c.OCCUPIED_CELL.value)
+
+    @property
+    def free_tiles(self):
+        return np.argwhere(self.slice == c.FREE_CELL.value)
+
+    def __init__(self, identifier, arrayslice):
+        super(Slice, self).__init__(identifier)
+        self.slice = arrayslice
+
+
+class Wall(Object):
+    pass
+
+
+class Tile(Object):
+
+    @property
+    def guests_that_can_collide(self):
+        return [x for x in self.guests if x.can_collide]
+
+    @property
+    def guests(self):
+        return self._guests.values()
+
+    @property
+    def x(self):
+        return self.pos[0]
+
+    @property
+    def y(self):
+        return self.pos[1]
+
+    @property
+    def pos(self):
+        return self._pos
+
+    def __init__(self, i, pos):
+        super(Tile, self).__init__(i)
+        self._guests = dict()
+        self._pos = tuple(pos)
+
+    def __len__(self):
+        return len(self._guests)
+
+    def is_empty(self):
+        return not len(self._guests)
+
+    def is_occupied(self):
+        return len(self._guests)
+
+    def enter(self, guest):
+        if guest.name not in self._guests:
+            self._guests.update({guest.name: guest})
+            return True
+        else:
+            return False
+
+    def leave(self, guest):
+        try:
+            del self._guests[guest.name]
+        except (ValueError, KeyError):
+            return False
+        return True
+
+
+class Entity(Object):
+
+    @property
+    def can_collide(self):
+        return True
+
+    @property
+    def encoding(self):
+        return 1
+
+    @property
+    def x(self):
+        return self.pos[0]
+
+    @property
+    def y(self):
+        return self.pos[1]
+
+    @property
+    def pos(self):
+        return self._tile.pos
+
+    @property
+    def tile(self):
+        return self._tile
+
+    def __init__(self, identifier, tile: Tile, **kwargs):
+        super(Entity, self).__init__(identifier, **kwargs)
+        self._tile = tile
+
+    def summarize_state(self):
+        return self.__dict__.copy()
+
+
+class MoveableEntity(Entity):
+
+    @property
+    def last_tile(self):
+        return self._last_tile
+
+    @property
+    def last_pos(self):
+        if self._last_tile:
+            return self._last_tile.pos
+        else:
+            return h.NO_POS
+
+    @property
+    def direction_of_view(self):
+        last_x, last_y = self.last_pos
+        curr_x, curr_y = self.pos
+        return last_x-curr_x, last_y-curr_y
+
+    def __init__(self, *args, **kwargs):
+        super(MoveableEntity, self).__init__(*args, **kwargs)
+        self._last_tile = None
+
+    def move(self, next_tile):
+        curr_tile = self.tile
+        if curr_tile != next_tile:
+            next_tile.enter(self)
+            curr_tile.leave(self)
+            self._tile = next_tile
+            self._last_tile = curr_tile
+            return True
+        else:
+            return False
+
+
+class Door(Entity):
+
+    @property
+    def can_collide(self):
+        return False
+
+    @property
+    def encoding(self):
+        return 1 if self.is_closed else -1
+
+    def __init__(self, *args, context, closed_on_init=True, auto_close_interval=500):
+        super(Door, self).__init__(*args)
+        self._state = c.IS_CLOSED_DOOR
+        self.auto_close_interval = auto_close_interval
+        self.time_to_close = -1
+        neighbor_pos = list(itertools.product([-1, 1, 0], repeat=2))[:-1]
+        neighbor_tiles = [context.by_pos(tuple([sum(x) for x in zip(self.pos, diff)])) for diff in neighbor_pos]
+        neighbor_pos = [x.pos for x in neighbor_tiles if x]
+        possible_connections = itertools.combinations(neighbor_pos, 2)
+        self.connectivity = nx.Graph()
+        for a, b in possible_connections:
+            if not max(abs(np.subtract(a, b))) > 1:
+                self.connectivity.add_edge(a, b)
+        if not closed_on_init:
+            self._open()
+
+    @property
+    def is_closed(self):
+        return self._state == c.IS_CLOSED_DOOR
+
+    @property
+    def is_open(self):
+        return self._state == c.IS_OPEN_DOOR
+
+    @property
+    def status(self):
+        return self._state
+
+    def use(self):
+        if self._state == c.IS_OPEN_DOOR:
+            self._close()
+        else:
+            self._open()
+
+    def tick(self):
+        if self.is_open and len(self.tile) == 1 and self.time_to_close:
+            self.time_to_close -= 1
+        elif self.is_open and not self.time_to_close and len(self.tile) == 1:
+            self.use()
+
+    def _open(self):
+        self.connectivity.add_edges_from([(self.pos, x) for x in self.connectivity.nodes])
+        self._state = c.IS_OPEN_DOOR
+        self.time_to_close = self.auto_close_interval
+
+    def _close(self):
+        self.connectivity.remove_node(self.pos)
+        self._state = c.IS_CLOSED_DOOR
+
+    def is_linked(self, old_pos, new_pos):
+        try:
+            _ = nx.shortest_path(self.connectivity, old_pos, new_pos)
+            return True
+        except nx.exception.NetworkXNoPath:
+            return False
+
+
+class Agent(MoveableEntity):
+
+    def __init__(self, *args):
+        super(Agent, self).__init__(*args)
+        self.clear_temp_sate()
+
+    # noinspection PyAttributeOutsideInit
+    def clear_temp_sate(self):
+        self.temp_collisions = []
+        self.temp_valid = None
+        self.temp_action = -1

environments/factory/base/registers.py

@@ -0,0 +1,292 @@
+import itertools
+import random
+from enum import Enum
+from typing import List, Union
+
+import networkx as nx
+import numpy as np
+
+from environments.factory.base.objects import Entity, Tile, Agent, Door, Slice, Action
+from environments.utility_classes import MovementProperties
+from environments import helpers as h
+from environments.helpers import Constants as c
+
+
+class Register:
+    _accepted_objects = Entity
+
+    @classmethod
+    def from_argwhere_coordinates(cls, positions: (int, int), tiles):
+        entities = [cls._accepted_objects(i, tiles.by_pos(position)) for i, position in enumerate(positions)]
+        registered_obj = cls()
+        registered_obj.register_additional_items(entities)
+        return registered_obj
+
+    @property
+    def name(self):
+        return self.__class__.__name__
+
+    @property
+    def n(self):
+        return len(self)
+
+    def __init__(self):
+        self._register = dict()
+        self._names = dict()
+
+    def __len__(self):
+        return len(self._register)
+
+    def __iter__(self):
+        return iter(self.values())
+
+    def __add__(self, other: _accepted_objects):
+        assert isinstance(other, self._accepted_objects), f'All item names have to be of type ' \
+                                                          f'{self._accepted_objects}, ' \
+                                                          f'but were {other.__class__}.,'
+        self._names.update({other.name: len(self._register)})
+        self._register.update({len(self._register): other})
+        return self
+
+    def register_additional_items(self, others: List[_accepted_objects]):
+        for other in others:
+            self + other
+        return self
+
+    def keys(self):
+        return self._register.keys()
+
+    def values(self):
+        return self._register.values()
+
+    def items(self):
+        return self._register.items()
+
+    def __getitem__(self, item):
+        try:
+            return self._register[item]
+        except KeyError:
+            print('NO')
+            raise
+
+    def by_name(self, item):
+        return self[self._names[item]]
+
+    def by_enum(self, enum: Enum):
+        return self[self._names[enum.name]]
+
+    def __repr__(self):
+        return f'{self.__class__.__name__}({self._register})'
+
+    def get_name(self, item):
+        return self._register[item].name
+
+    def get_idx_by_name(self, item):
+        return self._names[item]
+
+    def get_idx(self, enum: Enum):
+        return self._names[enum.name]
+
+    @classmethod
+    def from_tiles(cls, tiles, **kwargs):
+        entities = [cls._accepted_objects(f'{cls._accepted_objects.__name__.upper()}#{i}', tile, **kwargs)
+                    for i, tile in enumerate(tiles)]
+        registered_obj = cls()
+        registered_obj.register_additional_items(entities)
+        return registered_obj
+
+
+class EntityRegister(Register):
+
+    @classmethod
+    def from_argwhere_coordinates(cls, argwhere_coordinates):
+        tiles = cls()
+        tiles.register_additional_items([cls._accepted_objects(i, pos) for i, pos in enumerate(argwhere_coordinates)])
+        return tiles
+
+    def __init__(self):
+        super(EntityRegister, self).__init__()
+        self._tiles = dict()
+
+    def __add__(self, other):
+        super(EntityRegister, self).__add__(other)
+        self._tiles[other.pos] = other
+
+    def by_pos(self, pos):
+        if isinstance(pos, np.ndarray):
+            pos = tuple(pos)
+        try:
+            return self._tiles[pos]
+        except KeyError:
+            return None
+
+
+class Entities(Register):
+
+    _accepted_objects = Register
+
+    def __init__(self):
+        super(Entities, self).__init__()
+
+    def __iter__(self):
+        return iter([x for sublist in self.values() for x in sublist])
+
+    @classmethod
+    def from_argwhere_coordinates(cls, positions):
+        raise AttributeError()
+
+
+class FloorTiles(EntityRegister):
+    _accepted_objects = Tile
+
+    @property
+    def occupied_tiles(self):
+        tiles = [tile for tile in self if tile.is_occupied()]
+        random.shuffle(tiles)
+        return tiles
+
+    @property
+    def empty_tiles(self):
+        tiles = [tile for tile in self if tile.is_empty()]
+        random.shuffle(tiles)
+        return tiles
+
+
+class Agents(Register):
+
+    _accepted_objects = Agent
+
+    @property
+    def positions(self):
+        return [agent.pos for agent in self]
+
+
+class Doors(EntityRegister):
+    _accepted_objects = Door
+
+    def tick_doors(self):
+        for door in self:
+            door.tick()
+
+
+class Actions(Register):
+
+    _accepted_objects = Action
+
+    @property
+    def movement_actions(self):
+        return self._movement_actions
+
+    def __init__(self, movement_properties: MovementProperties, can_use_doors=False):
+        self.allow_no_op = movement_properties.allow_no_op
+        self.allow_diagonal_movement = movement_properties.allow_diagonal_movement
+        self.allow_square_movement = movement_properties.allow_square_movement
+        self.can_use_doors = can_use_doors
+        super(Actions, self).__init__()
+
+        if self.allow_square_movement:
+            self.register_additional_items([self._accepted_objects(direction) for direction in h.MANHATTAN_MOVES])
+        if self.allow_diagonal_movement:
+            self.register_additional_items([self._accepted_objects(direction) for direction in h.DIAGONAL_MOVES])
+        self._movement_actions = self._register.copy()
+        if self.can_use_doors:
+            self.register_additional_items([self._accepted_objects('use_door')])
+        if self.allow_no_op:
+            self.register_additional_items([self._accepted_objects('no-op')])
+
+    def is_moving_action(self, action: Union[int]):
+        #if isinstance(action, Action):
+        #    return (action.name in h.MANHATTAN_MOVES and self.allow_square_movement) or \
+        #           (action.name in h.DIAGONAL_MOVES and self.allow_diagonal_movement)
+        #else:
+        return action in self.movement_actions.keys()
+
+    def is_no_op(self, action: Union[str, int]):
+        if isinstance(action, str):
+            action = self.by_name(action)
+        return self[action].name == 'no-op'
+
+    def is_door_usage(self, action: Union[str, int]):
+        if isinstance(action, str):
+            action = self.by_name(action)
+        return self[action].name == 'use_door'
+
+
+class StateSlices(Register):
+
+    _accepted_objects = Slice
+
+    @property
+    def AGENTSTARTIDX(self):
+        if self._agent_start_idx:
+            return self._agent_start_idx
+        else:
+            self._agent_start_idx = min([idx for idx, x in self.items() if c.AGENT.name in x.name])
+            return self._agent_start_idx
+
+    def __init__(self):
+        super(StateSlices, self).__init__()
+        self._agent_start_idx = None
+
+    def _gather_occupation(self, excluded_slices):
+        exclusion = excluded_slices or []
+        assert isinstance(exclusion, (int, list))
+        exclusion = exclusion if isinstance(exclusion, list) else [exclusion]
+
+        result = np.sum([x for i, x in self.items() if i not in exclusion], axis=0)
+        return result
+
+    def free_cells(self, excluded_slices: Union[None, List[int], int] = None) -> np.array:
+        occupation = self._gather_occupation(excluded_slices)
+        free_cells = np.argwhere(occupation == c.IS_FREE_CELL)
+        np.random.shuffle(free_cells)
+        return free_cells
+
+    def occupied_cells(self, excluded_slices: Union[None, List[int], int] = None) -> np.array:
+        occupation = self._gather_occupation(excluded_slices)
+        occupied_cells = np.argwhere(occupation == c.IS_OCCUPIED_CELL.value)
+        np.random.shuffle(occupied_cells)
+        return occupied_cells
+
+
+class Zones(Register):
+
+    @property
+    def danger_zone(self):
+        return self._zone_slices[self.by_enum(c.DANGER_ZONE)]
+
+    @property
+    def accounting_zones(self):
+        return [self[idx] for idx, name in self.items() if name != c.DANGER_ZONE.value]
+
+    def __init__(self, parsed_level):
+        raise NotImplementedError('This needs a Rework')
+        super(Zones, self).__init__()
+        slices = list()
+        self._accounting_zones = list()
+        self._danger_zones = list()
+        for symbol in np.unique(parsed_level):
+            if symbol == h.WALL:
+                continue
+            elif symbol == h.DANGER_ZONE:
+                self + symbol
+                slices.append(h.one_hot_level(parsed_level, symbol))
+                self._danger_zones.append(symbol)
+            else:
+                self + symbol
+                slices.append(h.one_hot_level(parsed_level, symbol))
+                self._accounting_zones.append(symbol)
+
+        self._zone_slices = np.stack(slices)
+
+    def __getitem__(self, item):
+        return self._zone_slices[item]
+
+    def get_name(self, item):
+        return self._register[item]
+
+    def by_name(self, item):
+        return self[super(Zones, self).by_name(item)]
+
+    def register_additional_items(self, other: Union[str, List[str]]):
+        raise AttributeError('You are not allowed to add additional Zones in runtime.')

environments/factory/base_factory.py

@@ -1,364 +0,0 @@
-from pathlib import Path
-from typing import List, Union, Iterable
-
-import gym
-import numpy as np
-from gym import spaces
-
-import yaml
-from gym.wrappers import FrameStack
-
-from environments import helpers as h
-from environments.utility_classes import Actions, StateSlices, AgentState, MovementProperties, Zones, DoorState
-
-
-# noinspection PyAttributeOutsideInit
-class BaseFactory(gym.Env):
-
-    @property
-    def action_space(self):
-        return spaces.Discrete(self._actions.n)
-
-    @property
-    def observation_space(self):
-        agent_slice = self.n_agents if self.omit_agent_slice_in_obs else 0
-        agent_slice = (self.n_agents - 1) if self.combin_agent_slices_in_obs else agent_slice
-        if self.pomdp_radius:
-            shape = (self._state.shape[0] - agent_slice, self.pomdp_radius * 2 + 1, self.pomdp_radius * 2 + 1)
-            space = spaces.Box(low=0, high=1, shape=shape, dtype=np.float32)
-            return space
-        else:
-            shape = [x-agent_slice if idx == 0 else x for idx, x in enumerate(self._state.shape)]
-            space = spaces.Box(low=0, high=1, shape=shape, dtype=np.float32)
-            return space
-
-    @property
-    def movement_actions(self):
-        return self._actions.movement_actions
-
-    @property
-    def has_doors(self):
-        return hasattr(self, '_doors')
-
-    def __enter__(self):
-        return self if self.frames_to_stack == 0 else FrameStack(self, self.frames_to_stack)
-
-    def __exit__(self, exc_type, exc_val, exc_tb):
-        self.close()
-
-    def __init__(self, level_name='simple', n_agents=1, max_steps=int(5e2), pomdp_radius: Union[None, int] = 0,
-                 movement_properties: MovementProperties = MovementProperties(), parse_doors=False,
-                 combin_agent_slices_in_obs: bool = False, frames_to_stack=0,
-                 omit_agent_slice_in_obs=False, **kwargs):
-        assert (combin_agent_slices_in_obs != omit_agent_slice_in_obs) or \
-               (not combin_agent_slices_in_obs and not omit_agent_slice_in_obs), \
-            'Both options are exclusive'
-        assert frames_to_stack != 1 and frames_to_stack >= 0, "'frames_to_stack' cannot be negative or 1."
-
-        self.movement_properties = movement_properties
-        self.level_name = level_name
-
-        self.n_agents = n_agents
-        self.max_steps = max_steps
-        self.pomdp_radius = pomdp_radius
-        self.combin_agent_slices_in_obs = combin_agent_slices_in_obs
-        self.omit_agent_slice_in_obs = omit_agent_slice_in_obs
-        self.frames_to_stack = frames_to_stack
-
-        self.done_at_collision = False
-
-        self._state_slices = StateSlices()
-
-        # Level
-        level_filepath = Path(__file__).parent / h.LEVELS_DIR / f'{self.level_name}.txt'
-        parsed_level = h.parse_level(level_filepath)
-        self._level = h.one_hot_level(parsed_level)
-        level_slices = [h.LEVEL]
-
-        # Doors
-        if parse_doors:
-            parsed_doors = h.one_hot_level(parsed_level, h.DOOR)
-            if parsed_doors.any():
-                self._doors = parsed_doors
-                level_slices.append(h.DOORS)
-
-        # Agents
-        offset = len(level_slices)
-        self._state_slices.register_additional_items([*level_slices,
-                                                      *[f'agent#{i}' for i in range(offset, n_agents + offset)]])
-
-        # Additional Slices from SubDomains
-        if 'additional_slices' in kwargs:
-            self._state_slices.register_additional_items(kwargs.get('additional_slices'))
-        self._zones = Zones(parsed_level)
-
-        self._actions = Actions(self.movement_properties, can_use_doors=self.has_doors)
-        self._actions.register_additional_items(self.additional_actions)
-        self.reset()
-
-    @property
-    def additional_actions(self) -> Union[str, List[str]]:
-        """
-        When heriting from this Base Class, you musst implement this methode!!!
-        Please return a dict with the given types -> {int: str}.
-        The int should start at 0.
-
-        :return:            An Actions-object holding all actions with keys in range 0-n.
-        :rtype:             Actions
-        """
-        raise NotImplementedError('Please register additional actions ')
-
-    def reset(self) -> (np.ndarray, int, bool, dict):
-        slices = [np.expand_dims(self._level, 0)]
-        self._steps = 0
-        self._agent_states = list()
-
-        # Door Init
-        if self.has_doors:
-            self._door_states = [DoorState(i, tuple(pos)) for i, pos
-                                 in enumerate(np.argwhere(self._doors == h.IS_OCCUPIED_CELL))]
-            slices.append(np.expand_dims(self._doors, 0))
-
-        # Agent placement ...
-        floor_tiles = np.argwhere(self._level == h.IS_FREE_CELL)
-        # ... on random positions
-        np.random.shuffle(floor_tiles)
-        agents = np.zeros((self.n_agents, *self._level.shape), dtype=np.int8)
-        for i, (x, y) in enumerate(floor_tiles[:self.n_agents]):
-            agents[i, x, y] = h.IS_OCCUPIED_CELL
-            agent_state = AgentState(i, -1, pos=(x, y))
-            self._agent_states.append(agent_state)
-        slices.append(agents)
-
-        # GLOBAL STATE
-        self._state = np.concatenate(slices, axis=0)
-        return None
-
-    def _get_observations(self) -> np.ndarray:
-        if self.n_agents == 1:
-            obs = self._build_per_agent_obs(0)
-        elif self.n_agents >= 2:
-            obs = np.stack([self._build_per_agent_obs(agent_i) for agent_i in range(self.n_agents)])
-        else:
-            raise ValueError('n_agents cannot be smaller than 1!!')
-        return obs
-
-    def _build_per_agent_obs(self, agent_i: int) -> np.ndarray:
-        first_agent_slice = self._state_slices.AGENTSTARTIDX
-        # Todo: make this more efficient!
-        if self.pomdp_radius:
-            pomdp_diameter = self.pomdp_radius * 2 + 1
-            global_x, global_y = self._agent_states[agent_i].pos
-            x0, x1 = max(0, global_x - self.pomdp_radius), global_x + self.pomdp_radius + 1
-            y0, y1 = max(0, global_y - self.pomdp_radius), global_y + self.pomdp_radius + 1
-            obs = self._state[:, x0:x1, y0:y1]
-            if obs.shape[1] != pomdp_diameter or obs.shape[2] != pomdp_diameter:
-                obs_padded = np.full((obs.shape[0], pomdp_diameter, pomdp_diameter), h.IS_OCCUPIED_CELL)
-                local_x, local_y = np.argwhere(obs[first_agent_slice + agent_i] == h.IS_OCCUPIED_CELL)[0]
-                obs_padded[:,
-                abs(local_x-self.pomdp_radius):abs(local_x-self.pomdp_radius)+obs.shape[1],
-                abs(local_y-self.pomdp_radius):abs(local_y-self.pomdp_radius)+obs.shape[2]] = obs
-                obs = obs_padded
-        else:
-            obs = self._state
-        if self.omit_agent_slice_in_obs:
-            obs_new = obs[[key for key, val in self._state_slices.items() if h.AGENT not in val]]
-            return obs_new
-        else:
-            if self.combin_agent_slices_in_obs:
-                agent_obs = np.sum(obs[[key for key, val in self._state_slices.items() if 'agent' in val]],
-                                   axis=0, keepdims=True)
-                obs = np.concatenate((obs[:first_agent_slice], agent_obs, obs[first_agent_slice+self.n_agents:]))
-                return obs
-            else:
-                return obs
-
-    def do_additional_actions(self, agent_i: int, action: int) -> ((int, int), bool):
-        raise NotImplementedError
-
-    def step(self, actions):
-        actions = [actions] if isinstance(actions, int) or np.isscalar(actions) else actions
-        assert isinstance(actions, Iterable), f'"actions" has to be in [{int, list}]'
-        self._steps += 1
-        done = False
-
-        # Move this in a seperate function?
-        for agent_i, action in enumerate(actions):
-            agent = self._agent_states[agent_i]
-            if self._actions.is_moving_action(action):
-                pos, valid = self.move_or_colide(agent_i, action)
-            elif self._actions.is_no_op(action):
-                pos, valid = agent.pos, h.VALID
-            elif self._actions.is_door_usage(action):
-                # Check if agent raly stands on a door:
-                if self._state[self._state_slices.by_name(h.DOORS)][agent.pos] in [h.IS_OCCUPIED_CELL, ]:
-                    door = [door for door in self._door_states if door.pos == self._agent_states[agent_i].pos][0]
-                    door.use()
-                    pos, valid = self._agent_states[agent_i].pos, h.VALID
-                # When he doesn't...
-                else:
-                    pos, valid = self._agent_states[agent_i].pos, h.NOT_VALID
-            else:
-                pos, valid = self.do_additional_actions(agent_i, action)
-            # Update state accordingly
-            self._agent_states[agent_i].update(pos=pos, action_valid=valid, action=action)
-
-        for i, collision_vec in enumerate(self.check_all_collisions(self._agent_states, self._state.shape[0])):
-            self._agent_states[i].update(collision_vector=collision_vec)
-            if self.done_at_collision and collision_vec.any():
-                done = True
-
-        # Step the door close intervall
-        agents_pos = [agent.pos for agent in self._agent_states]
-        if self.has_doors:
-            for door_i, door in enumerate(self._door_states):
-                if door.is_open and door.time_to_close and door.pos not in agents_pos:
-                    door.time_to_close -= 1
-                elif door.is_open and not door.time_to_close and door.pos not in agents_pos:
-                    door.use()
-                    self._state[self._state_slices.by_name(h.DOORS)] = 1 if door.is_closed else -1
-
-        reward, info = self.calculate_reward(self._agent_states)
-
-        if self._steps >= self.max_steps:
-            done = True
-
-        info.update(step_reward=reward, step=self._steps)
-
-        return None, reward, done, info
-
-    def check_all_collisions(self, agent_states: List[AgentState], collisions: int) -> np.ndarray:
-        collision_vecs = np.zeros((len(agent_states), collisions))  # n_agents x n_slices
-        for agent_state in agent_states:
-            # Register only collisions of moving agents
-            if self._actions.is_moving_action(agent_state.action):
-                collision_vecs[agent_state.i] = self.check_collisions(agent_state)
-        return collision_vecs
-
-    def check_collisions(self, agent_state: AgentState) -> np.ndarray:
-        pos_x, pos_y = agent_state.pos
-        # FixMe: We need to find a way to spare out some dimensions, eg. an info dimension etc... a[?,]
-        #  https://numpy.org/doc/stable/reference/arrays.indexing.html#boolean-array-indexing
-        collisions_vec = self._state[:, pos_x, pos_y].copy()                 # "vertical fiber" at position of agent i
-        collisions_vec[self._state_slices.AGENTSTARTIDX + agent_state.i] = h.IS_FREE_CELL   # no self-collisions
-        if 'door' in self._state_slices.values():
-            collisions_vec[self._state_slices.by_name('doors')] = h.IS_FREE_CELL            # no door-collisions
-
-        if agent_state.action_valid:
-            # All well, no collision.
-            # Place a function hook here if needed.
-            pass
-        else:
-            # Place a marker to indicate a collision with the level boundrys
-            collisions_vec[self._state_slices.by_name(h.LEVEL)] = h.IS_OCCUPIED_CELL
-        return collisions_vec
-
-    def do_move(self, agent_i: int, old_pos: (int, int), new_pos: (int, int)) -> None:
-        (x, y), (x_new, y_new) = old_pos, new_pos
-        self._state[agent_i + self._state_slices.AGENTSTARTIDX, x, y] = h.IS_FREE_CELL
-        self._state[agent_i + self._state_slices.AGENTSTARTIDX, x_new, y_new] = h.IS_OCCUPIED_CELL
-
-    def move_or_colide(self, agent_i: int, action: int) -> ((int, int), bool):
-        old_pos, new_pos, valid = self._check_agent_move(agent_i=agent_i, action=self._actions[action])
-        if valid:
-            # Does not collide width level boundaries
-            self.do_move(agent_i, old_pos, new_pos)
-            return new_pos, valid
-        else:
-            # Agent seems to be trying to collide in this step
-            return old_pos, valid
-
-    def _check_agent_move(self, agent_i, action: str):
-        agent_slice_idx = self._state_slices.AGENTSTARTIDX + agent_i
-        agent_slice = self._state[agent_slice_idx]  # horizontal slice from state tensor
-        agent_pos = np.argwhere(agent_slice == 1)
-        if len(agent_pos) > 1:
-            raise AssertionError('Only one agent per slice is allowed.')
-        x, y = agent_pos[0]
-
-        # Actions
-        x_diff, y_diff = h.ACTIONMAP[action]
-        x_new = x + x_diff
-        y_new = y + y_diff
-
-        if self.has_doors and self._agent_states[agent_i]._last_pos != (-1, -1):
-            door = [door for door in self._door_states if door.pos == (x, y)]
-            if door:
-                door = door[0]
-                if door.is_open:
-                    pass
-                else:  # door.is_closed:
-                    local_door_map = self._state[self._state_slices.by_name(h.LEVEL)][door.pos[0]-1:door.pos[0]+2,
-                                                                                      door.pos[1]-1:door.pos[1]+2]
-                    local_agent_map = np.zeros_like(local_door_map)
-                    local_agent_map[tuple(np.subtract(door.pos, self._agent_states[agent_i]._last_pos))] += 1
-                    local_agent_map[tuple(np.subtract(door.pos, (x_new, y_new)))] += 1
-                    if np.all(local_door_map == h.HORIZONTAL_DOOR_MAP):
-                        # This is a horizontal Door Configuration
-                        if np.sum(local_agent_map[0]) >= 2 or np.sum(local_agent_map[-1]) >= 2:
-                            # The Agent goes back to where he came from
-                            pass
-                        else:
-                            # The Agent tries to go through a closed door
-                            return (x, y), (x, y), h.NOT_VALID
-                    else:
-                        # This is a vertical Door Configuration
-                        if np.sum(local_agent_map[:, 0]) >= 2 or np.sum(local_agent_map[:, -1]) >= 2:
-                            # The Agent goes back to where he came from
-                            pass
-                        else:
-                            # The Agent tries to go through a closed door
-                            return (x, y), (x, y), h.NOT_VALID
-            else:
-                pass
-        else:
-            pass
-
-        valid = h.check_position(self._state[self._state_slices.by_name(h.LEVEL)], (x_new, y_new))
-
-        return (x, y), (x_new, y_new), valid
-
-    def agent_i_position(self, agent_i: int) -> (int, int):
-        positions = np.argwhere(self._state[self._state_slices.AGENTSTARTIDX + agent_i] == h.IS_OCCUPIED_CELL)
-        assert positions.shape[0] == 1
-        pos_x, pos_y = positions[0]  # a.flatten()
-        return pos_x, pos_y
-
-    def free_cells(self, excluded_slices: Union[None, List[int], int] = None) -> np.array:
-
-        excluded_slices = excluded_slices or []
-        assert isinstance(excluded_slices, (int, list))
-        excluded_slices = excluded_slices if isinstance(excluded_slices, list) else [excluded_slices]
-
-        state = self._state
-
-        if excluded_slices:
-            # Todo: Is there a cleaner way?
-            #  inds = list(range(self._state.shape[0]))
-            #  excluded_slices = [inds[x] if x < 0 else x for x in excluded_slices]
-            #  state = self._state[[x for x in inds if x not in excluded_slices]]
-
-            # Yes there is!
-            bool_array = np.full(self._state.shape[0], True)
-            bool_array[excluded_slices] = False
-            state = self._state[bool_array]
-
-        free_cells = np.argwhere(state.sum(0) == h.IS_FREE_CELL)
-        np.random.shuffle(free_cells)
-        return free_cells
-
-    def calculate_reward(self, agent_states: List[AgentState]) -> (int, dict):
-        # Returns: Reward, Info
-        raise NotImplementedError
-
-    def render(self, mode='human'):
-        raise NotImplementedError
-
-    def save_params(self, filepath: Path):
-        # noinspection PyProtectedMember
-        # d = {key: val._asdict() if hasattr(val, '_asdict') else val for key, val in self.__dict__.items()
-        d = {key: val for key, val in self.__dict__.items() if not key.startswith('_') and not key.startswith('__')}
-        filepath.parent.mkdir(parents=True, exist_ok=True)
-        with filepath.open('w') as f:
-            yaml.dump(d, f)
-            # pickle.dump(d, f, protocol=pickle.HIGHEST_PROTOCOL)

environments/factory/renderer.py

@@ -53,7 +53,7 @@ class Renderer:
 
     def blit_params(self, entity):
         r, c = entity.pos
-        img = self.assets[entity.name]
+        img = self.assets[entity.name.lower()]
         if entity.value_operation == 'opacity':
             img.set_alpha(255*entity.value)
         elif entity.value_operation == 'scale':

environments/factory/simple_factory.py

@@ -3,13 +3,17 @@ import random
 
 import numpy as np
 
-from environments.factory.base_factory import BaseFactory
+
 from environments import helpers as h
+from environments.helpers import Constants as c
+from environments.factory.base.base_factory import BaseFactory
+from environments.factory.base.objects import Agent, Action, Object, Slice
+from environments.factory.base.registers import Entities
 
 from environments.factory.renderer import Renderer, Entity
-from environments.utility_classes import AgentState, MovementProperties
+from environments.utility_classes import MovementProperties
 
-DIRT_INDEX = -1
+DIRT = "dirt"
 CLEAN_UP_ACTION = 'clean_up'
 
 
@@ -26,95 +30,104 @@ class DirtProperties(NamedTuple):
 class SimpleFactory(BaseFactory):
 
     @property
-    def additional_actions(self) -> List[str]:
+    def additional_actions(self) -> List[Object]:
-        return [CLEAN_UP_ACTION]
+        return [Action(CLEAN_UP_ACTION)]
+
+    @property
+    def additional_entities(self) -> Union[Entities, List[Entities]]:
+        return []
+
+    @property
+    def additional_slices(self) -> List[Slice]:
+        return [Slice('dirt', np.zeros(self._level_shape))]
 
     def _is_clean_up_action(self, action: Union[str, int]):
         if isinstance(action, str):
             action = self._actions.by_name(action)
-        return self._actions[action] == CLEAN_UP_ACTION
+        return self._actions[action].name == CLEAN_UP_ACTION
 
     def __init__(self, *args, dirt_properties: DirtProperties = DirtProperties(), verbose=False, **kwargs):
         self.dirt_properties = dirt_properties
         self.verbose = verbose
-        self.max_dirt = 20
         self._renderer = None  # expensive - don't use it when not required !
-        super(SimpleFactory, self).__init__(*args, additional_slices=['dirt'], **kwargs)
+        super(SimpleFactory, self).__init__(*args, **kwargs)
+
+    def _flush_state(self):
+        super(SimpleFactory, self)._flush_state()
+        self._obs_cube[self._slices.get_idx_by_name(DIRT)] = self._slices.by_name(DIRT).slice
 
     def render(self, mode='human'):
 
         if not self._renderer:  # lazy init
-            height, width = self._state.shape[1:]
+            height, width = self._obs_cube.shape[1:]
             self._renderer = Renderer(width, height, view_radius=self.pomdp_radius, fps=5)
-
+        dirt_slice = self._slices.by_name(DIRT).slice
-        dirt = [Entity('dirt', [x, y], min(0.15 + self._state[DIRT_INDEX, x, y], 1.5), 'scale')
+        dirt = [Entity('dirt', tile.pos, min(0.15 + dirt_slice[tile.pos], 1.5), 'scale')
-                for x, y in np.argwhere(self._state[DIRT_INDEX] > h.IS_FREE_CELL)]
+                for tile in [tile for tile in self._tiles if dirt_slice[tile.pos]]]
         walls = [Entity('wall', pos)
-                 for pos in np.argwhere(self._state[self._state_slices.by_name(h.LEVEL)] > h.IS_FREE_CELL)]
+                 for pos in np.argwhere(self._slices.by_enum(c.LEVEL).slice == c.OCCUPIED_CELL.value)]
 
         def asset_str(agent):
-            if any([x is None for x in [self._state_slices[j] for j in agent.collisions]]):
+            # What does this abonimation do?
-                print('error')
+            # if any([x is None for x in [self._slices[j] for j in agent.collisions]]):
-            cols = ' '.join([self._state_slices[j] for j in agent.collisions])
+            #     print('error')
-            if h.AGENT in cols:
+            col_names = [x.name for x in agent.temp_collisions]
+            if c.AGENT.value in col_names:
                 return 'agent_collision', 'blank'
-            elif not agent.action_valid or 'level' in cols or h.AGENT in cols:
+            elif not agent.temp_valid or c.LEVEL.name in col_names or c.AGENT.name in col_names:
-                return h.AGENT, 'invalid'
+                return c.AGENT.value, 'invalid'
-            elif self._is_clean_up_action(agent.action):
+            elif self._is_clean_up_action(agent.temp_action):
-                return h.AGENT, 'valid'
+                return c.AGENT.value, 'valid'
             else:
-                return h.AGENT, 'idle'
+                return c.AGENT.value, 'idle'
         agents = []
-        for i, agent in enumerate(self._agent_states):
+        for i, agent in enumerate(self._agents):
             name, state = asset_str(agent)
             agents.append(Entity(name, agent.pos, 1, 'none', state, i+1))
         doors = []
-        if self.has_doors:
+        if self.parse_doors:
-            for i, door in enumerate(self._door_states):
+            for i, door in enumerate(self._doors):
                 name, state = 'door_open' if door.is_open else 'door_closed', 'blank'
                 agents.append(Entity(name, door.pos, 1, 'none', state, i+1))
         self._renderer.render(dirt+walls+agents+doors)
 
     def spawn_dirt(self) -> None:
-        if not np.argwhere(self._state[DIRT_INDEX] != h.IS_FREE_CELL).shape[0] > self.dirt_properties.max_global_amount:
+        dirt_slice = self._slices.by_name(DIRT).slice
-            free_for_dirt = self.free_cells(excluded_slices=DIRT_INDEX)
+        # dirty_tiles = [tile for tile in self._tiles if dirt_slice[tile.pos]]
+        curr_dirt_amount = dirt_slice.sum()
+        if not curr_dirt_amount > self.dirt_properties.max_global_amount:
+            free_for_dirt = self._tiles.empty_tiles
 
             # randomly distribute dirt across the grid
             n_dirt_tiles = int(random.uniform(0, self.dirt_properties.max_spawn_ratio) * len(free_for_dirt))
-            for x, y in free_for_dirt[:n_dirt_tiles]:
+            for tile in free_for_dirt[:n_dirt_tiles]:
-                new_value = self._state[DIRT_INDEX, x, y] + self.dirt_properties.gain_amount
+                new_value = dirt_slice[tile.pos] + self.dirt_properties.gain_amount
-                self._state[DIRT_INDEX, x, y] = max(new_value, self.dirt_properties.max_local_amount)
+                dirt_slice[tile.pos] = min(new_value, self.dirt_properties.max_local_amount)
         else:
             pass
 
-    def clean_up(self, pos: (int, int)) -> ((int, int), bool):
+    def clean_up(self, agent: Agent) -> bool:
-        new_dirt_amount = self._state[DIRT_INDEX][pos] - self.dirt_properties.clean_amount
+        dirt_slice = self._slices.by_name(DIRT).slice
-        cleanup_was_sucessfull: bool
+        if dirt_slice[agent.pos]:
-        if self._state[DIRT_INDEX][pos] == h.IS_FREE_CELL:
+            new_dirt_amount = dirt_slice[agent.pos] - self.dirt_properties.clean_amount
-            cleanup_was_sucessfull = False
+            dirt_slice[agent.pos] = max(new_dirt_amount, c.FREE_CELL.value)
-            return pos, cleanup_was_sucessfull
+            return True
         else:
-            cleanup_was_sucessfull = True
+            return False
-            self._state[DIRT_INDEX][pos] = max(new_dirt_amount, h.IS_FREE_CELL)
-            return pos, cleanup_was_sucessfull
 
-    def step(self, actions):
+    def post_step(self) -> dict:
-        _, reward, done, info = super(SimpleFactory, self).step(actions)
         if not self._next_dirt_spawn:
             self.spawn_dirt()
             self._next_dirt_spawn = self.dirt_properties.spawn_frequency
         else:
             self._next_dirt_spawn -= 1
+        return {}
 
-        obs = self._get_observations()
+    def do_additional_actions(self, agent: Agent, action: int) -> bool:
-        return obs, reward, done, info
-
-    def do_additional_actions(self, agent_i: int, action: int) -> ((int, int), bool):
         if action != self._actions.is_moving_action(action):
             if self._is_clean_up_action(action):
-                agent_i_pos = self.agent_i_position(agent_i)
+                valid = self.clean_up(agent)
-                _, valid = self.clean_up(agent_i_pos)
+                return valid
-                return agent_i_pos, valid
             else:
                 raise RuntimeError('This should not happen!!!')
         else:
@@ -122,19 +135,21 @@ class SimpleFactory(BaseFactory):
 
     def reset(self) -> (np.ndarray, int, bool, dict):
         _ = super().reset()  # state, reward, done, info ... =
-        dirt_slice = np.zeros((1, *self._state.shape[1:]))
-        self._state = np.concatenate((self._state, dirt_slice))  # dirt is now the last slice
         self.spawn_dirt()
         self._next_dirt_spawn = self.dirt_properties.spawn_frequency
         obs = self._get_observations()
         return obs
 
-    def calculate_reward(self, agent_states: List[AgentState]) -> (int, dict):
+    def calculate_reward(self) -> (int, dict):
         info_dict = dict()
-        current_dirt_amount = self._state[DIRT_INDEX].sum()
+
-        dirty_tiles = np.argwhere(self._state[DIRT_INDEX] != h.IS_FREE_CELL).shape[0]
+        dirt_slice = self._slices.by_name(DIRT).slice
+        dirty_tiles = [dirt_slice[tile.pos] for tile in self._tiles if dirt_slice[tile.pos]]
+        current_dirt_amount = sum(dirty_tiles)
+        dirty_tile_count = len(dirty_tiles)
+
         info_dict.update(dirt_amount=current_dirt_amount)
-        info_dict.update(dirty_tile_count=dirty_tiles)
+        info_dict.update(dirty_tile_count=dirty_tile_count)
 
         try:
             # penalty = current_dirt_amount
@@ -142,52 +157,47 @@ class SimpleFactory(BaseFactory):
         except (ZeroDivisionError, RuntimeWarning):
             reward = 0
 
-        for agent_state in agent_states:
+        for agent in self._agents:
-            agent_name = f'{h.AGENT.capitalize()} {agent_state.i}'
+            if agent.temp_collisions:
-            cols = agent_state.collisions
+                self.print(f't = {self._steps}\t{agent.name} has collisions with {agent.temp_collisions}')
 
-            list_of_collisions = [self._state_slices[entity] for entity in cols
+            if self._is_clean_up_action(agent.temp_action):
-                                  if entity != self._state_slices.by_name('dirt')]
+                if agent.temp_valid:
-
-            if list_of_collisions:
-                self.print(f't = {self._steps}\t{agent_name} has collisions with {list_of_collisions}')
-
-            if self._is_clean_up_action(agent_state.action):
-                if agent_state.action_valid:
                     reward += 1
-                    self.print(f'{agent_name} did just clean up some dirt at {agent_state.pos}.')
+                    self.print(f'{agent.name} did just clean up some dirt at {agent.pos}.')
                     info_dict.update(dirt_cleaned=1)
                 else:
                     reward -= 0.01
-                    self.print(f'{agent_name} just tried to clean up some dirt at {agent_state.pos}, but failed.')
+                    self.print(f'{agent.name} just tried to clean up some dirt at {agent.pos}, but failed.')
-                    info_dict.update({f'{h.AGENT}_{agent_state.i}_failed_action': 1})
+                    info_dict.update({f'{agent.name}_failed_action': 1})
-                    info_dict.update({f'{h.AGENT}_{agent_state.i}_failed_dirt_cleanup': 1})
+                    info_dict.update({f'{agent.name}_failed_dirt_cleanup': 1})
 
-            elif self._actions.is_moving_action(agent_state.action):
+            elif self._actions.is_moving_action(agent.temp_action):
-                if agent_state.action_valid:
+                if agent.temp_valid:
                     # info_dict.update(movement=1)
                     reward -= 0.00
                 else:
                     # self.print('collision')
-                    reward -= 0.01
+                    reward -= 0.05
+                    self.print(f'{agent.name} just hit the wall at {agent.pos}.')
+                    info_dict.update({f'{agent.name}_vs_LEVEL': 1})
 
-            elif self._actions.is_door_usage(agent_state.action):
+            elif self._actions.is_door_usage(agent.temp_action):
-                if agent_state.action_valid:
+                if agent.temp_valid:
-                    reward += 0.1
+                    self.print(f'{agent.name} did just use the door at {agent.pos}.')
-                    self.print(f'{agent_name} did just use the door at {agent_state.pos}.')
                     info_dict.update(door_used=1)
                 else:
-                    self.print(f'{agent_name} just tried to use a door at {agent_state.pos}, but failed.')
+                    reward -= 0.01
-                    info_dict.update({f'{h.AGENT}_{agent_state.i}_failed_action': 1})
+                    self.print(f'{agent.name} just tried to use a door at {agent.pos}, but failed.')
-                    info_dict.update({f'{h.AGENT}_{agent_state.i}_failed_door_open': 1})
+                    info_dict.update({f'{agent.name}_failed_action': 1})
+                    info_dict.update({f'{agent.name}_failed_door_open': 1})
 
             else:
                 info_dict.update(no_op=1)
                 reward -= 0.00
 
-            for entity in list_of_collisions:
+            for other_agent in agent.temp_collisions:
-                entity = h.AGENT if h.AGENT in entity else entity
+                info_dict.update({f'{agent.name}_vs_{other_agent.name}': 1})
-                info_dict.update({f'{h.AGENT}_{agent_state.i}_vs_{entity}': 1})
 
         self.print(f"reward is {reward}")
         # Potential based rewards ->
@@ -205,13 +215,13 @@ if __name__ == '__main__':
     move_props = MovementProperties(allow_diagonal_movement=True, allow_square_movement=True)
     dirt_props = DirtProperties()
     factory = SimpleFactory(movement_properties=move_props, dirt_properties=dirt_props, n_agents=10,
-                            combin_agent_slices_in_obs=True, level_name='rooms',
+                            combin_agent_slices_in_obs=False, level_name='rooms', parse_doors=True,
                             pomdp_radius=3)
 
     n_actions = factory.action_space.n - 1
     _ = factory.observation_space
 
-    for epoch in range(10000):
+    for epoch in range(100):
         random_actions = [[random.randint(0, n_actions) for _ in range(factory.n_agents)] for _ in range(200)]
         env_state = factory.reset()
         r = 0

environments/helpers.py

@@ -1,27 +1,46 @@
 from collections import defaultdict
-from typing import Tuple
+from enum import Enum, auto
+from typing import Tuple, Union
 
 import numpy as np
 from pathlib import Path
 
+
 # Constants
+class Constants(Enum):
     WALL = '#'
     DOOR = 'D'
     DANGER_ZONE = 'x'
-LEVELS_DIR = 'levels'
     LEVEL = 'level'
-AGENT = 'agent'
+    AGENT = 'Agent'
-IS_FREE_CELL = 0
+    FREE_CELL = 0
-IS_OCCUPIED_CELL = 1
+    OCCUPIED_CELL = 1
 
     DOORS = 'doors'
-IS_CLOSED_DOOR = IS_OCCUPIED_CELL
+    IS_CLOSED_DOOR = 1
     IS_OPEN_DOOR = -1
 
     LEVEL_IDX = 0
 
+    ACTION = auto()
+    COLLISIONS = auto()
+    VALID = True
+    NOT_VALID = False
+
+    def __bool__(self):
+        return bool(self.value)
+
+
+LEVELS_DIR = 'levels'
+
 TO_BE_AVERAGED = ['dirt_amount', 'dirty_tiles']
-IGNORED_DF_COLUMNS = ['Episode', 'Run', 'train_step', 'step', 'index', 'dirt_amount', 'dirty_tile_count']
+IGNORED_DF_COLUMNS = ['Episode', 'Run', 'train_step', 'step', 'index', 'dirt_amount',
+                      'dirty_tile_count', 'terminal_observation', 'episode']
+
+MANHATTAN_MOVES = ['north', 'east', 'south', 'west']
+DIAGONAL_MOVES = ['north_east', 'south_east', 'south_west', 'north_west']
+
+NO_POS = (-9999, -9999)
 
 ACTIONMAP = defaultdict(lambda: (0, 0), dict(north=(-1, 0), east=(0, 1),
                                              south=(1, 0), west=(0, -1),
@@ -38,8 +57,7 @@ HORIZONTAL_DOOR_ZONE_2 = np.asarray([[0, 0, 0], [0, 0, 0], [1, 1, 1]])
 VERTICAL_DOOR_ZONE_1 = np.asarray([[1, 0, 0], [0, 0, 0], [0, 0, 1]])
 VERTICAL_DOOR_ZONE_2 = np.asarray([[1, 0, 0], [0, 0, 0], [0, 0, 1]])
 
-NOT_VALID = False
+
-VALID = True
 
 
 # Utility functions
@@ -51,10 +69,13 @@ def parse_level(path):
     return level
 
 
-def one_hot_level(level, wall_char=WALL):
+def one_hot_level(level, wall_char: Union[Constants, str] = Constants.WALL):
     grid = np.array(level)
     binary_grid = np.zeros(grid.shape, dtype=np.int8)
-    binary_grid[grid == wall_char] = 1
+    if wall_char in Constants:
+        binary_grid[grid == wall_char.value] = Constants.OCCUPIED_CELL.value
+    else:
+        binary_grid[grid == wall_char] = Constants.OCCUPIED_CELL.value
     return binary_grid
 
 
@@ -70,7 +91,7 @@ def check_position(slice_to_check_against: np.ndarray, position_to_check: Tuple[
 
     # Check for collision with level walls
     valid = valid and not slice_to_check_against[x_pos, y_pos]
-    return valid
+    return Constants.VALID if valid else Constants.NOT_VALID
 
 
 if __name__ == '__main__':

environments/logging/monitor.py

@@ -1,5 +1,6 @@
 import pickle
 from pathlib import Path
+from typing import List, Dict
 
 from stable_baselines3.common.callbacks import BaseCallback
 
@@ -66,13 +67,15 @@ class MonitorCallback(BaseCallback):
                 print('Plotting done.')
             self.closed = True
 
-    def _on_step(self) -> bool:
+    def _on_step(self, alt_infos: List[Dict] = None, alt_dones: List[bool] = None) -> bool:
-        for _, info in enumerate(self.locals.get('infos', [])):
+        infos = alt_infos or self.locals.get('infos', [])
+        dones = alt_dones or self.locals.get('dones', None) or self.locals.get('done', [None])
+        for _, info in enumerate(infos):
             self._monitor_dict[self.num_timesteps] = {key: val for key, val in info.items()
-                                                      if key not in ['terminal_observation', 'episode']}
+                                                      if key not in ['terminal_observation', 'episode']
+                                                      and not key.startswith('rec_')}
 
-        for env_idx, done in list(enumerate(self.locals.get('dones', []))) + \
+        for env_idx, done in enumerate(dones):
-                             list(enumerate(self.locals.get('done', []))):
             if done:
                 env_monitor_df = pd.DataFrame.from_dict(self._monitor_dict, orient='index')
                 self._monitor_dict = dict()

environments/logging/recorder.py

@@ -0,0 +1,74 @@
+import json
+from pathlib import Path
+from typing import Union
+
+import pandas as pd
+from stable_baselines3.common.callbacks import BaseCallback
+
+from environments.factory.base.base_factory import REC_TAC
+from environments.helpers import IGNORED_DF_COLUMNS
+
+
+class RecorderCallback(BaseCallback):
+
+    def __init__(self, filepath: Union[str, Path], occupation_map: bool = False, trajectory_map: bool = False):
+        super(RecorderCallback, self).__init__()
+        self.trajectory_map = trajectory_map
+        self.occupation_map = occupation_map
+        self.filepath = Path(filepath)
+        self._recorder_dict = dict()
+        self._recorder_df = pd.DataFrame()
+        self.started = False
+        self.closed = False
+
+    def _on_step(self) -> bool:
+        for _, info in enumerate(self.locals.get('infos', [])):
+            self._recorder_dict[self.num_timesteps] = {key: val for key, val in info.items()
+                                                       if not key.startswith(f'{REC_TAC}_')}
+
+        for env_idx, done in list(enumerate(self.locals.get('dones', []))) + \
+                             list(enumerate(self.locals.get('done', []))):
+            if done:
+                env_monitor_df = pd.DataFrame.from_dict(self._recorder_dict, orient='index')
+                self._recorder_dict = dict()
+                columns = [col for col in env_monitor_df.columns if col not in IGNORED_DF_COLUMNS]
+                env_monitor_df = env_monitor_df.aggregate(
+                    {col: 'mean' if col.endswith('ount') else 'sum' for col in columns}
+                )
+                env_monitor_df['episode'] = len(self._recorder_df)
+                self._recorder_df = self._recorder_df.append([env_monitor_df])
+            else:
+                pass
+        return True
+
+    def __enter__(self):
+        self._on_training_start()
+
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        self._on_training_end()
+
+    def _on_training_start(self) -> None:
+        if self.started:
+            pass
+        else:
+            self.filepath.parent.mkdir(exist_ok=True, parents=True)
+            self.started = True
+        pass
+
+    def _on_training_end(self) -> None:
+        if self.closed:
+            pass
+        else:
+            # self.out_file.unlink(missing_ok=True)
+            with self.filepath.open('w') as f:
+                json_df = self._recorder_df.to_json(orient="table")
+                parsed = json.loads(json_df)
+                json.dump(parsed, f, indent=4)
+
+            if self.occupation_map:
+                print('Recorder files were dumped to disk, now plotting the occupation map...')
+
+            if self.trajectory_map:
+                print('Recorder files were dumped to disk, now plotting the occupation map...')
+
+            self.closed = True

environments/oo_factory/_base_factory.py

@@ -1,68 +0,0 @@
-from typing import List, Union
-
-import gym
-
-
-class Entities():
-
-    def __init__(self):
-        pass
-
-
-# noinspection PyAttributeOutsideInit
-class BaseFactory(gym.Env):
-
-    def __enter__(self):
-        return self if self.frames_to_stack == 0 else FrameStack(self, self.frames_to_stack)
-
-    def __exit__(self, exc_type, exc_val, exc_tb):
-        self.close()
-
-    def __init__(self, level_name='simple', n_agents=1, max_steps=int(5e2), pomdp_radius: Union[None, int] = 0,
-                 movement_properties: MovementProperties = MovementProperties(),
-                 combin_agent_slices_in_obs: bool = False, frames_to_stack=0,
-                 omit_agent_slice_in_obs=False, **kwargs):
-        assert (combin_agent_slices_in_obs != omit_agent_slice_in_obs) or \
-               (not combin_agent_slices_in_obs and not omit_agent_slice_in_obs), \
-            'Both options are exclusive'
-        assert frames_to_stack != 1 and frames_to_stack >= 0, "'frames_to_stack' cannot be negative or 1."
-
-        self.movement_properties = movement_properties
-        self.level_name = level_name
-
-        self.n_agents = n_agents
-        self.max_steps = max_steps
-        self.pomdp_radius = pomdp_radius
-        self.combin_agent_slices_in_obs = combin_agent_slices_in_obs
-        self.omit_agent_slice_in_obs = omit_agent_slice_in_obs
-        self.frames_to_stack = frames_to_stack
-
-        self.done_at_collision = False
-
-        self._state_slices = StateSlices()
-        level_filepath = Path(__file__).parent / h.LEVELS_DIR / f'{self.level_name}.txt'
-        parsed_level = h.parse_level(level_filepath)
-        self._level = h.one_hot_level(parsed_level)
-        parsed_doors = h.one_hot_level(parsed_level, h.DOOR)
-        if parsed_doors.any():
-            self._doors = parsed_doors
-            level_slices = ['level', 'doors']
-            can_use_doors = True
-        else:
-            level_slices = ['level']
-            can_use_doors = False
-        offset = len(level_slices)
-        self._state_slices.register_additional_items([*level_slices,
-                                                      *[f'agent#{i}' for i in range(offset, n_agents + offset)]])
-        if 'additional_slices' in kwargs:
-            self._state_slices.register_additional_items(kwargs.get('additional_slices'))
-        self._zones = Zones(parsed_level)
-
-        self._actions = Actions(self.movement_properties, can_use_doors=can_use_doors)
-        self._actions.register_additional_items(self.additional_actions)
-        self.reset()
-
-
-    def step(self, actions: Union[int, List[int]]):
-        actions = actions if isinstance(actions, list) else [actions]
-        self.entities.step()

environments/utility_classes.py

@@ -1,298 +1,7 @@
-from typing import Union, List, NamedTuple, Tuple
+from typing import NamedTuple
-import numpy as np
-
-from environments import helpers as h
-
-
-IS_CLOSED = 'CLOSED'
-IS_OPEN = 'OPEN'
 
 
 class MovementProperties(NamedTuple):
     allow_square_movement: bool = True
     allow_diagonal_movement: bool = False
     allow_no_op: bool = False
-
-
-# Preperations for Entities (not used yet)
-class Entity:
-
-    @property
-    def pos(self):
-        return self._pos
-
-    @property
-    def identifier(self):
-        return self._identifier
-
-    def __init__(self, identifier, pos):
-        self._pos = pos
-        self._identifier = identifier
-
-
-class Door(Entity):
-
-    @property
-    def is_closed(self):
-        return self._state == IS_CLOSED
-
-    @property
-    def is_open(self):
-        return self._state == IS_OPEN
-
-    @property
-    def status(self):
-        return self._state
-
-    def __init__(self, *args, closed_on_init=True, **kwargs):
-        super(Door, self).__init__(*args, **kwargs)
-        self._state = IS_CLOSED if closed_on_init else IS_OPEN
-
-    def use(self):
-        self._state: str = IS_CLOSED if self._state == IS_OPEN else IS_OPEN
-    pass
-
-
-class Agent(Entity):
-
-    @property
-    def direction_of_vision(self):
-        return self._direction_of_vision
-
-    def __init__(self, *args, **kwargs):
-        super(Agent, self).__init__(*args, **kwargs)
-        self._direction_of_vision = (None, None)
-
-    def move(self, new_pos: Tuple[int, int]):
-        x_old, y_old = self.pos
-        self._pos = new_pos
-        x_new, y_new = new_pos
-        self._direction_of_vision = (x_old-x_new, y_old-y_new)
-        return self.pos
-
-
-class AgentState:
-
-    @property
-    def collisions(self):
-        return np.argwhere(self.collision_vector != 0).flatten()
-
-    @property
-    def direction_of_view(self):
-        last_x, last_y = self._last_pos
-        curr_x, curr_y = self.pos
-        return last_x-curr_x, last_y-curr_y
-
-    def __init__(self, i: int, action: int, pos=None):
-        self.i = i
-        self.action = action
-
-        self.collision_vector = None
-        self.action_valid = None
-        self.pos = pos
-        self._last_pos = (-1, -1)
-
-    def update(self, **kwargs):                             # is this hacky?? o.0
-        last_pos = self.pos
-        for key, value in kwargs.items():
-            if hasattr(self, key):
-                self.__setattr__(key, value)
-            else:
-                raise AttributeError(f'"{key}" cannot be updated, this attr is not a part of {self.__name__}')
-        if self.action_valid and last_pos != self.pos:
-            self._last_pos = last_pos
-
-    def reset(self):
-        self.__init__(self.i, self.action)
-
-
-class DoorState:
-
-    def __init__(self, i: int, pos: Tuple[int, int], closed_on_init=True, auto_close_interval=10):
-        self.i = i
-        self.pos = pos
-        self._state = self._state = IS_CLOSED if closed_on_init else IS_OPEN
-        self.auto_close_interval = auto_close_interval
-        self.time_to_close = -1
-
-    @property
-    def is_closed(self):
-        return self._state == IS_CLOSED
-
-    @property
-    def is_open(self):
-        return self._state == IS_OPEN
-
-    @property
-    def status(self):
-        return self._state
-
-    def use(self):
-        if self._state == IS_OPEN:
-            self._state = IS_CLOSED
-        else:
-            self._state = IS_OPEN
-            self.time_to_close = self.auto_close_interval
-
-class Register:
-
-    @property
-    def n(self):
-        return len(self)
-
-    def __init__(self):
-        self._register = dict()
-
-    def __len__(self):
-        return len(self._register)
-
-    def __add__(self, other: str):
-        assert isinstance(other, str), f'All item names have to be of type {str}'
-        self._register.update({len(self._register): other})
-        return self
-
-    def register_additional_items(self, others: List[str]):
-        for other in others:
-            self + other
-        return self
-
-    def keys(self):
-        return self._register.keys()
-
-    def values(self):
-        return self._register.values()
-
-    def items(self):
-        return self._register.items()
-
-    def __getitem__(self, item):
-        try:
-            return self._register[item]
-        except KeyError:
-            print('NO')
-            raise
-
-    def by_name(self, item):
-        return list(self._register.keys())[list(self._register.values()).index(item)]
-
-    def __repr__(self):
-        return f'{self.__class__.__name__}({self._register})'
-
-
-class Agents(Register):
-
-    def __init__(self, n_agents):
-        super(Agents, self).__init__()
-        self.register_additional_items([f'agent#{i}' for i in range(n_agents)])
-        self._agents = [Agent(x, (-1, -1)) for x in self.keys()]
-        pass
-
-    def __getitem__(self, item):
-        return self._agents[item]
-
-    def get_name(self, item):
-        return self._register[item]
-
-    def by_name(self, item):
-        return self[super(Agents, self).by_name(item)]
-
-    def __add__(self, other):
-        super(Agents, self).__add__(other)
-        self._agents.append(Agent(len(self)+1, (-1, -1)))
-
-
-class Actions(Register):
-
-    @property
-    def movement_actions(self):
-        return self._movement_actions
-
-    def __init__(self, movement_properties: MovementProperties, can_use_doors=False):
-        self.allow_no_op = movement_properties.allow_no_op
-        self.allow_diagonal_movement = movement_properties.allow_diagonal_movement
-        self.allow_square_movement = movement_properties.allow_square_movement
-        self.can_use_doors = can_use_doors
-        super(Actions, self).__init__()
-
-        if self.allow_square_movement:
-            self.register_additional_items(['north', 'east', 'south', 'west'])
-        if self.allow_diagonal_movement:
-            self.register_additional_items(['north_east', 'south_east', 'south_west', 'north_west'])
-        self._movement_actions = self._register.copy()
-        if self.can_use_doors:
-            self.register_additional_items(['use_door'])
-        if self.allow_no_op:
-            self.register_additional_items(['no-op'])
-
-    def is_moving_action(self, action: Union[str, int]):
-        if isinstance(action, str):
-            return action in self.movement_actions.values()
-        else:
-            return self[action] in self.movement_actions.values()
-
-    def is_no_op(self, action: Union[str, int]):
-        if isinstance(action, str):
-            action = self.by_name(action)
-        return self[action] == 'no-op'
-
-    def is_door_usage(self, action: Union[str, int]):
-        if isinstance(action, str):
-            action = self.by_name(action)
-        return self[action] == 'use_door'
-
-
-class StateSlices(Register):
-
-    @property
-    def AGENTSTARTIDX(self):
-        if self._agent_start_idx:
-            return self._agent_start_idx
-        else:
-            self._agent_start_idx = min([idx for idx, x in self.items() if h.AGENT in x])
-            return self._agent_start_idx
-
-    def __init__(self):
-        super(StateSlices, self).__init__()
-        self._agent_start_idx = None
-
-
-class Zones(Register):
-
-    @property
-    def danger_zone(self):
-        return self._zone_slices[self.by_name(h.DANGER_ZONE)]
-
-    @property
-    def accounting_zones(self):
-        return [self[idx] for idx, name in self.items() if name != h.DANGER_ZONE]
-
-    def __init__(self, parsed_level):
-        super(Zones, self).__init__()
-        slices = list()
-        self._accounting_zones = list()
-        self._danger_zones = list()
-        for symbol in np.unique(parsed_level):
-            if symbol == h.WALL:
-                continue
-            elif symbol == h.DANGER_ZONE:
-                self + symbol
-                slices.append(h.one_hot_level(parsed_level, symbol))
-                self._danger_zones.append(symbol)
-            else:
-                self + symbol
-                slices.append(h.one_hot_level(parsed_level, symbol))
-                self._accounting_zones.append(symbol)
-
-        self._zone_slices = np.stack(slices)
-
-    def __getitem__(self, item):
-        return self._zone_slices[item]
-
-    def get_name(self, item):
-        return self._register[item]
-
-    def by_name(self, item):
-        return self[super(Zones, self).by_name(item)]
-
-    def register_additional_items(self, other: Union[str, List[str]]):
-        raise AttributeError('You are not allowed to add additional Zones in runtime.')

main.py

@@ -9,11 +9,12 @@ import pandas as pd
 
 from stable_baselines3.common.callbacks import CallbackList
 
-from environments.factory.base_factory import MovementProperties
 from environments.factory.simple_factory import DirtProperties, SimpleFactory
 from environments.helpers import IGNORED_DF_COLUMNS
 from environments.logging.monitor import MonitorCallback
 from environments.logging.plotting import prepare_plot
+from environments.logging.recorder import RecorderCallback
+from environments.utility_classes import MovementProperties
 
 warnings.filterwarnings('ignore', category=FutureWarning)
 warnings.filterwarnings('ignore', category=UserWarning)
@@ -91,8 +92,8 @@ if __name__ == '__main__':
     from algorithms.reg_dqn import RegDQN
     # from sb3_contrib import QRDQN
 
-    dirt_props = DirtProperties(clean_amount=3, gain_amount=0.2, max_global_amount=30,
+    dirt_props = DirtProperties(clean_amount=3, gain_amount=1, max_global_amount=30,
-                                max_local_amount=5, spawn_frequency=1, max_spawn_ratio=0.05)
+                                max_local_amount=5, spawn_frequency=3, max_spawn_ratio=0.05)
     move_props = MovementProperties(allow_diagonal_movement=True,
                                     allow_square_movement=True,
                                     allow_no_op=False)
@@ -103,9 +104,10 @@ if __name__ == '__main__':
     for modeL_type in [A2C, PPO, RegDQN, DQN]:  # , QRDQN]:
         for seed in range(3):
 
-            with SimpleFactory(n_agents=1, dirt_properties=dirt_props, pomdp_radius=2, max_steps=400,
+            with SimpleFactory(n_agents=1, dirt_properties=dirt_props, pomdp_radius=2, max_steps=400, parse_doors=False,
                                movement_properties=move_props, level_name='rooms', frames_to_stack=4,
-                               omit_agent_slice_in_obs=False, combin_agent_slices_in_obs=True) as env:
+                               omit_agent_slice_in_obs=False, combin_agent_slices_in_obs=True, record_episodes=False
+                               ) as env:
 
                 if modeL_type.__name__ in ["PPO", "A2C"]:
                     kwargs = dict(ent_coef=0.01)
@@ -127,10 +129,13 @@ if __name__ == '__main__':
                 out_path /= identifier
 
                 callbacks = CallbackList(
-                    [MonitorCallback(filepath=out_path / f'monitor_{identifier}.pick', plotting=False)]
+                    [MonitorCallback(filepath=out_path / f'monitor_{identifier}.pick', plotting=False),
+                     RecorderCallback(filepath=out_path / f'recorder_{identifier}.json', occupation_map=False,
+                                      trajectory_map=False
+                                      )]
                 )
 
-                model.learn(total_timesteps=int(1e5), callback=callbacks)
+                model.learn(total_timesteps=int(5e5), callback=callbacks)
 
                 save_path = out_path / f'model_{identifier}.zip'
                 save_path.parent.mkdir(parents=True, exist_ok=True)

reload_agent.py

@@ -14,7 +14,7 @@ warnings.filterwarnings('ignore', category=UserWarning)
 
 if __name__ == '__main__':
 
-    model_name = 'A2C_1623923982'
+    model_name = 'PPO_1626075586'
     run_id = 0
     out_path = Path(__file__).parent / 'debug_out'
     model_path = out_path / model_name